feat(behavior_path_planner): add flag to enable auto mode without rtc…

…_auto_mode_manager (#387) * add param Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * enable rtc to false for default auto mode module Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * update Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * set avoidance module enable_rtc as false Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> * set all module enable_rtc param as true Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
autowarefoundation · Jun 8, 2023 · 65884ad · 65884ad
1 parent 4fb3a4c
commit 65884ad
Showing 1 changed file with 10 additions and 0 deletions.
diff --git a/...ning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml b/...ning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml
@@ -5,55 +5,63 @@
   ros__parameters:
     external_request_lane_change_left:
       enable_module: false
+      enable_rtc: true
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: true
       priority: 7
       max_module_size: 1
 
     external_request_lane_change_right:
       enable_module: false
+      enable_rtc: true
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: true
       priority: 7
       max_module_size: 1
 
     lane_change_left:
       enable_module: true
+      enable_rtc: true
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
       priority: 6
       max_module_size: 1
 
     lane_change_right:
       enable_module: true
+      enable_rtc: true
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
       priority: 6
       max_module_size: 1
 
     start_planner:
       enable_module: true
+      enable_rtc: true
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
       priority: 0
       max_module_size: 1
 
     side_shift:
       enable_module: true
+      enable_rtc: true
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
       priority: 2
       max_module_size: 1
 
     goal_planner:
       enable_module: true
+      enable_rtc: true
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
       priority: 1
       max_module_size: 1
 
     avoidance:
       enable_module: true
+      enable_rtc: true
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: false
       priority: 5
@@ -62,13 +70,15 @@
     # NOTE: This module is unstable. Deprecated for now.
     avoidance_by_lc:
       enable_module: false
+      enable_rtc: true
       enable_simultaneous_execution_as_approved_module: false
       enable_simultaneous_execution_as_candidate_module: false
       priority: 4
       max_module_size: 1
 
     dynamic_avoidance:
       enable_module: false
+      enable_rtc: true
       enable_simultaneous_execution_as_approved_module: true
       enable_simultaneous_execution_as_candidate_module: true
       priority: 3